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modeld refactor: supercombo -> vision+policy (#34718)

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* should be ok

* update tg

* type

* wrong model

* is no more

* update readme

* add back

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
ZwX1616
2025-02-27 17:00:56 -08:00
committed by GitHub
parent 8f3e773977
commit 29ca4aa7de
11 changed files with 88 additions and 53 deletions
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selfdrive/modeld/SConscript
+6 -5
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@@ -32,10 +32,11 @@ lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LI
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
# Get model metadata
fn = File("models/supercombo").abspath
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
for model_name in ['driving_vision', 'driving_policy']:
fn = File(f"models/{model_name}").abspath
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
# Compile tinygrad model
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -46,7 +47,7 @@ elif arch == 'Darwin':
else:
device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
for model_name in ['supercombo', 'dmonitoring_model']:
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
fn = File(f"models/{model_name}").abspath
cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)